classdef ShiftAndAppendAuxLawWarmStart < WarmStart
    %%ShiftAndAppendAuxLawWarmStart
    
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    methods (Abstract)
        auxiliaryLaw(obj,t,x);
        nextX(obj,t,x,u);
    end
    
    methods
        
        function sol = generateWarmStarts(obj,t,previousSol)
            sol  = previousSol;
            endX = previousSol.x_opt(:,end);
            auxU = obj.auxiliaryLaw(t,endX);
            auxX = obj.nextX(t,endX,auxU);
            sol.u_opt = [previousSol.u_opt(:,2:end),auxU];
            sol.x_opt = [previousSol.x_opt(:,2:end),auxX];
        end
     
    end
    
end

